My cat has never brushed her teeth, and they're fine, presumably because the microbiome in her mouth is in a state where bacteria that secrete lactic acid are crowded out by benign species. Granted, she doesn't eat many simple sugars, but I have had a vet recommend brushing her teeth twice a day as a preventative measure, which blew my mind.
I hope I live to see the day when the extent of oral hygiene maintenance and bad breath prevention is a toothpick and an occasional probiotic mouthwash or something.